ARES / Mbed 2 deprecated Robot 2015

Robot's source code

Dependencies:   mbed

Asservissement/Asserv.h@90:294b16267109, 2015-04-23 (annotated)

Committer:
Near32
Date:
Thu Apr 23 18:20:35 2015 +0000
Revision:
90:294b16267109
Parent:
89:d05001d85a02
Child:
91:c0b436c52ede
testing pid...

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Near32 36:54f86bc6fd80 1 /*KalmanFilter*/
Near32 36:54f86bc6fd80 2 #include "EKF.h"
Near32 36:54f86bc6fd80 3 #include "Odometry.h"
Near32 89:d05001d85a02 4 //#define debugAsserv
Near32 89:d05001d85a02 5
Near32 43:87bdce65341f 6 /*
Near32 36:54f86bc6fd80 7 template<typename T>
Near32 36:54f86bc6fd80 8 Mat<T> motion_bicycle3( Mat<T> state, Mat<T> command, T dt = (T)0.5);
Near32 36:54f86bc6fd80 9 template<typename T>
Near32 36:54f86bc6fd80 10 Mat<T> sensor_bicycle3( Mat<T> state, Mat<T> command, Mat<T> d_state, T dt = 0.5 );
Near32 36:54f86bc6fd80 11 template<typename T>
Near32 36:54f86bc6fd80 12 Mat<T> jmotion_bicycle3( Mat<T> state, Mat<T> command, T dt = 0.5);
Near32 36:54f86bc6fd80 13 template<typename T>
Near32 36:54f86bc6fd80 14 Mat<T> jmotion_bicycle3_command(Mat<T> state, Mat<T> command, T dt = 0.5);
Near32 36:54f86bc6fd80 15 template<typename T>
Near32 36:54f86bc6fd80 16 Mat<T> jsensor_bicycle3( Mat<T> state, Mat<T> command, Mat<T> d_state, T dt = 0.5);
Near32 36:54f86bc6fd80 17 template<typename T>
Near32 36:54f86bc6fd80 18 bool setPWM(PwmOut *servo,T p);
Near32 43:87bdce65341f 19 */
Near32 36:54f86bc6fd80 20
Near32 36:54f86bc6fd80 21 template<typename T>
Near32 36:54f86bc6fd80 22 bool setPWM(PwmOut *servo,T p)
Near32 36:54f86bc6fd80 23 {
Near32 36:54f86bc6fd80 24 if(p <= (T)1.0 && p >= (T)0.0)
Near32 36:54f86bc6fd80 25 {
Near32 36:54f86bc6fd80 26 servo->write((float)p);
Near32 36:54f86bc6fd80 27 return true;
Near32 36:54f86bc6fd80 28 }
Near32 36:54f86bc6fd80 29
Near32 36:54f86bc6fd80 30 return false;
Near32 36:54f86bc6fd80 31 }
Near32 36:54f86bc6fd80 32
Near32 36:54f86bc6fd80 33 template<typename T>
Near32 36:54f86bc6fd80 34 Mat<T> motion_bicycle3( Mat<T> state, Mat<T> command, T dt)
Near32 43:87bdce65341f 35 {
Near32 36:54f86bc6fd80 36 Mat<T> bicycle(3,1);
Near32 36:54f86bc6fd80 37 bicycle.set((T)36, 1,1); /*radius*/
Near32 36:54f86bc6fd80 38 bicycle.set((T)36, 2,1);
Near32 36:54f86bc6fd80 39 bicycle.set((T)220, 3,1); /*entre-roue*/
Near32 47:4909e97570f6 40 Mat<T> r(state);
Near32 47:4909e97570f6 41
Near32 47:4909e97570f6 42 /*state v w */
Near32 47:4909e97570f6 43 /*
Near32 36:54f86bc6fd80 44 T v = state.get(4,1);
Near32 36:54f86bc6fd80 45 T w = state.get(5,1);
Near32 47:4909e97570f6 46 */
Near32 47:4909e97570f6 47 /*state phi_l phi_r */
Near32 47:4909e97570f6 48 T v = bicycle.get(1,1)/(2*bicycle.get(3,1))*(r.get(4,1)+r.get(5,1));
Near32 47:4909e97570f6 49 T w = bicycle.get(1,1)/(2*bicycle.get(3,1))*(r.get(4,1)-r.get(5,1));
Near32 36:54f86bc6fd80 50
Near32 36:54f86bc6fd80 51 r.set( r.get(1,1) + v*cos(r.get(3,1))*dt, 1,1);
Near32 36:54f86bc6fd80 52 r.set( r.get(2,1) + v*sin(r.get(3,1))*dt, 2,1);
Near32 36:54f86bc6fd80 53
Near32 36:54f86bc6fd80 54 T angle = (r.get(3,1) + dt*w);
Near32 89:d05001d85a02 55 if( angle < -(T)PI)
Near32 36:54f86bc6fd80 56 {
Near32 89:d05001d85a02 57 angle = angle - (T)PI*ceil(angle/PI);
Near32 36:54f86bc6fd80 58 }
Near32 89:d05001d85a02 59 else if( angle > (T)PI)
Near32 36:54f86bc6fd80 60 {
Near32 89:d05001d85a02 61 angle = angle - (T)PI*floor(angle/PI);
Near32 36:54f86bc6fd80 62 }
Near32 36:54f86bc6fd80 63
Near32 81:08eacb6179d8 64 r.set( angle, 3,1);
Near32 36:54f86bc6fd80 65
Near32 36:54f86bc6fd80 66
Near32 36:54f86bc6fd80 67 /*----------------------------------------*/
Near32 36:54f86bc6fd80 68 /*Modele du moteur*/
Near32 36:54f86bc6fd80 69 /*----------------------------------------*/
Near32 36:54f86bc6fd80 70 //double r1 = bicycle.get(3,1)/bicycle.get(1,1)*(command.get(1,1)/bicycle.get(3,1)+command.get(2,1));
Near32 47:4909e97570f6 71 //double r2 = bicycle.get(3,1)/bicycle.get(1,1)*(command.get(1,1)/bicycle.get(3,1)-command.get(2,1));
Near32 47:4909e97570f6 72 /*state v w */
Near32 47:4909e97570f6 73 /*
Near32 36:54f86bc6fd80 74 T r1 = bicycle.get(1,1)/2*(command.get(1,1)+command.get(2,1));
Near32 36:54f86bc6fd80 75 T r2 = bicycle.get(1,1)/bicycle.get(3,1)*(command.get(1,1)-command.get(2,1));
Near32 47:4909e97570f6 76 */
Near32 47:4909e97570f6 77 /*state phi_l phi_r*/
Near32 47:4909e97570f6 78 T r1 = command.get(1,1);
Near32 47:4909e97570f6 79 T r2 = command.get(2,1);
Near32 36:54f86bc6fd80 80
Near32 36:54f86bc6fd80 81
Near32 36:54f86bc6fd80 82 r.set( r1, 4,1);
Near32 36:54f86bc6fd80 83 r.set( r2, 5,1);
Near32 36:54f86bc6fd80 84
Near32 36:54f86bc6fd80 85
Near32 36:54f86bc6fd80 86 /*----------------------------------------*/
Near32 36:54f86bc6fd80 87 /*----------------------------------------*/
Near32 36:54f86bc6fd80 88
Near32 36:54f86bc6fd80 89 return r;
Near32 36:54f86bc6fd80 90 }
Near32 36:54f86bc6fd80 91
Near32 36:54f86bc6fd80 92 template<typename T>
Near32 36:54f86bc6fd80 93 Mat<T> sensor_bicycle3( Mat<T> state, Mat<T> command, Mat<T> d_state, T dt)
Near32 36:54f86bc6fd80 94 {
Near32 36:54f86bc6fd80 95 /*
Near32 36:54f86bc6fd80 96 double angle = state.get(3,1);
Near32 36:54f86bc6fd80 97 if( angle < -PI)
Near32 36:54f86bc6fd80 98 {
Near32 36:54f86bc6fd80 99 angle = angle - PI*ceil(angle/PI);
Near32 36:54f86bc6fd80 100 }
Near32 36:54f86bc6fd80 101 else if( angle > PI)
Near32 36:54f86bc6fd80 102 {
Near32 36:54f86bc6fd80 103 angle = angle - PI*floor(angle/PI);
Near32 36:54f86bc6fd80 104 }
Near32 36:54f86bc6fd80 105
Near32 36:54f86bc6fd80 106 state.set( atan21(sin(angle), cos(angle)), 3,1);
Near32 36:54f86bc6fd80 107 */
Near32 36:54f86bc6fd80 108 return state;
Near32 36:54f86bc6fd80 109 }
Near32 36:54f86bc6fd80 110
Near32 36:54f86bc6fd80 111 template<typename T>
Near32 36:54f86bc6fd80 112 Mat<T> jmotion_bicycle3( Mat<T> state, Mat<T> command, T dt)
Near32 43:87bdce65341f 113 {
Near32 43:87bdce65341f 114 T h = pow(numeric_limits<T>::epsilon(),(T)0.5)*norme2(state)+ pow(numeric_limits<T>::epsilon(), (T)0.5);
Near32 36:54f86bc6fd80 115 Mat<T> var( (T)0, state.getLine(), state.getColumn());
Near32 36:54f86bc6fd80 116 var.set( h, 1,1);
Near32 36:54f86bc6fd80 117 Mat<T> G(motion_bicycle3(state+var, command, dt) - motion_bicycle3(state-var, command,dt));
Near32 36:54f86bc6fd80 118
Near32 36:54f86bc6fd80 119 for(int i=2;i<=state.getLine();i++)
Near32 36:54f86bc6fd80 120 {
Near32 36:54f86bc6fd80 121 var.set( (T)0, i-1,1);
Near32 36:54f86bc6fd80 122 var.set( h, i,1);
Near32 36:54f86bc6fd80 123 G = operatorL(G, motion_bicycle3(state+var, command, dt) - motion_bicycle3(state-var, command,dt) );
Near32 36:54f86bc6fd80 124 }
Near32 36:54f86bc6fd80 125
Near32 36:54f86bc6fd80 126
Near32 36:54f86bc6fd80 127 return ((T)1.0/(2*h))*G;
Near32 36:54f86bc6fd80 128 }
Near32 36:54f86bc6fd80 129
Near32 36:54f86bc6fd80 130 template<typename T>
Near32 36:54f86bc6fd80 131 Mat<T> jmotion_bicycle3_command(Mat<T> state, Mat<T> command, T dt)
Near32 36:54f86bc6fd80 132 {
Near32 43:87bdce65341f 133 T h = pow(numeric_limits<T>::epsilon(), (T)0.5)+sqrt(numeric_limits<T>::epsilon())*norme2(state);
Near32 36:54f86bc6fd80 134 Mat<T> var( (T)0, command.getLine(), command.getColumn());
Near32 36:54f86bc6fd80 135 var.set( h, 1,1);
Near32 36:54f86bc6fd80 136 Mat<T> G(motion_bicycle3(state, command+var, dt) - motion_bicycle3(state, command-var,dt));
Near32 36:54f86bc6fd80 137
Near32 36:54f86bc6fd80 138 for(int i=2;i<=command.getLine();i++)
Near32 36:54f86bc6fd80 139 {
Near32 36:54f86bc6fd80 140 var.set( (T)0, i-1,1);
Near32 36:54f86bc6fd80 141 var.set( h, i,1);
Near32 36:54f86bc6fd80 142 G = operatorL(G, motion_bicycle3(state, command+var, dt) - motion_bicycle3(state, command-var,dt) );
Near32 36:54f86bc6fd80 143 }
Near32 36:54f86bc6fd80 144
Near32 36:54f86bc6fd80 145
Near32 36:54f86bc6fd80 146 return (1.0/(2*h))*G;
Near32 36:54f86bc6fd80 147 }
Near32 36:54f86bc6fd80 148
Near32 36:54f86bc6fd80 149
Near32 36:54f86bc6fd80 150 template<typename T>
Near32 36:54f86bc6fd80 151 Mat<T> jsensor_bicycle3( Mat<T> state, Mat<T> command, Mat<T> d_state, T dt)
Near32 36:54f86bc6fd80 152 {
Near32 36:54f86bc6fd80 153 T h = pow(numeric_limits<T>::epsilon(), (T)0.5)+sqrt(numeric_limits<T>::epsilon())*norme2(state);
Near32 36:54f86bc6fd80 154 Mat<T> var((T)0, state.getLine(), state.getColumn());
Near32 36:54f86bc6fd80 155 var.set( h, 1,1);
Near32 36:54f86bc6fd80 156 Mat<T> H(sensor_bicycle3(state+var, command, d_state, dt) - sensor_bicycle3(state-var, command, d_state, dt));
Near32 36:54f86bc6fd80 157
Near32 36:54f86bc6fd80 158 for(int i=2;i<=state.getLine();i++)
Near32 36:54f86bc6fd80 159 {
Near32 36:54f86bc6fd80 160 var.set( (T)0, i-1,1);
Near32 36:54f86bc6fd80 161 var.set( h, i,1);
Near32 36:54f86bc6fd80 162 H = operatorL(H, sensor_bicycle3(state+var, command, d_state, dt) - sensor_bicycle3(state-var, command, d_state, dt) );
Near32 36:54f86bc6fd80 163 }
Near32 36:54f86bc6fd80 164
Near32 36:54f86bc6fd80 165
Near32 36:54f86bc6fd80 166 return ((T)1.0/(2*h))*H;
Near32 36:54f86bc6fd80 167 /*
Near32 36:54f86bc6fd80 168 double h = sqrt(numeric_limits<double>::epsilon())*10e2+sqrt(numeric_limits<double>::epsilon())*norme2(state);
Near32 36:54f86bc6fd80 169 Mat<double> var((double)0, state.getLine(), state.getColumn());
Near32 36:54f86bc6fd80 170 var.set( h, 1,1);
Near32 36:54f86bc6fd80 171 Mat<double> H(sensor_bicycle3(state+var, command, d_state, dt) - sensor_bicycle3(state-var, command, d_state, dt));
Near32 36:54f86bc6fd80 172
Near32 36:54f86bc6fd80 173 for(int i=2;i<=state.getLine();i++)
Near32 36:54f86bc6fd80 174 {
Near32 36:54f86bc6fd80 175 var.set( (double)0, i-1,1);
Near32 36:54f86bc6fd80 176 var.set( h, i,1);
Near32 36:54f86bc6fd80 177 H = operatorL(H, sensor_bicycle3(state+var, command, d_state, dt) - sensor_bicycle3(state-var, command, d_state, dt) );
Near32 36:54f86bc6fd80 178
Near32 36:54f86bc6fd80 179 }
Near32 36:54f86bc6fd80 180
Near32 36:54f86bc6fd80 181
Near32 36:54f86bc6fd80 182 return (1.0/(2*h))*H;
Near32 36:54f86bc6fd80 183 */
Near32 43:87bdce65341f 184 }
Near32 43:87bdce65341f 185 //int reduc = 16;
Near32 43:87bdce65341f 186
Near32 43:87bdce65341f 187 extern Serial logger;
Near32 43:87bdce65341f 188
Near32 43:87bdce65341f 189 /*---------------------------------------------------------------------------------------------------------*/
Near32 43:87bdce65341f 190 /*---------------------------------------------------------------------------------------------------------*/
Near32 43:87bdce65341f 191
Near32 43:87bdce65341f 192 template<typename T>
Near32 43:87bdce65341f 193 class Asserv
Near32 43:87bdce65341f 194 {
Near32 43:87bdce65341f 195 private :
Near32 43:87bdce65341f 196
Near32 43:87bdce65341f 197 Odometry* odometry;
Near32 43:87bdce65341f 198 EKF<T>* instanceEKF;
Near32 43:87bdce65341f 199 int nbrstate;
Near32 43:87bdce65341f 200 int nbrcontrol;
Near32 43:87bdce65341f 201 int nbrobs;
Near32 43:87bdce65341f 202 T dt;
Near32 43:87bdce65341f 203
Near32 43:87bdce65341f 204 T stdnoise;
Near32 43:87bdce65341f 205 Mat<T> X;
Near32 43:87bdce65341f 206 Mat<T> dX;
Near32 50:16c033eea17d 207
Near32 50:16c033eea17d 208 Mat<T> dXalpha;
Near32 50:16c033eea17d 209 Mat<T> dXrho;
Near32 50:16c033eea17d 210 Mat<T> dXbeta;
Near32 50:16c033eea17d 211
Near32 43:87bdce65341f 212 Mat<T> initX;
Near32 43:87bdce65341f 213 Mat<T> z;
Near32 43:87bdce65341f 214 Mat<T> u;
Near32 43:87bdce65341f 215 bool extended;
Near32 43:87bdce65341f 216 bool filterOn;
Near32 43:87bdce65341f 217
Near32 43:87bdce65341f 218 Mat<T> ki;
Near32 43:87bdce65341f 219 Mat<T> kp;
Near32 43:87bdce65341f 220 Mat<T> kd;
Near32 43:87bdce65341f 221
Near32 43:87bdce65341f 222 public :
Near32 43:87bdce65341f 223
Near32 43:87bdce65341f 224 T phi_r;
Near32 43:87bdce65341f 225 T phi_l;
Near32 43:87bdce65341f 226 T phi_max;
Near32 43:87bdce65341f 227 bool execution;
Near32 50:16c033eea17d 228 bool isarrived;
Near32 50:16c033eea17d 229 bool isarrivedalpha;
Near32 50:16c033eea17d 230 bool isarrivedrho;
Near32 89:d05001d85a02 231 int behaviour;
Near32 43:87bdce65341f 232
Near32 43:87bdce65341f 233 Asserv(Odometry* odometry)
Near32 43:87bdce65341f 234 {
Near32 43:87bdce65341f 235 /*Odometry*/
Near32 43:87bdce65341f 236 this->odometry = odometry;
Near32 44:d5f95af61243 237 phi_max = (T)100.0;
Near32 43:87bdce65341f 238
Near32 43:87bdce65341f 239 /*KalmanFilter*/
Near32 43:87bdce65341f 240 //double phi_max = 100;
Near32 43:87bdce65341f 241 /*en millimetres*/
Near32 43:87bdce65341f 242
Near32 43:87bdce65341f 243 nbrstate = 5;
Near32 43:87bdce65341f 244 nbrcontrol = 2;
Near32 43:87bdce65341f 245 nbrobs = 5;
Near32 43:87bdce65341f 246 dt = (T)0.05;
Near32 43:87bdce65341f 247 stdnoise = (T)0.05;
Near32 43:87bdce65341f 248
Near32 43:87bdce65341f 249 initX = Mat<T>((T)0, nbrstate, 1);
Near32 43:87bdce65341f 250 initX.set( (T)0, 3,1);
Near32 43:87bdce65341f 251 X = initX;
Near32 43:87bdce65341f 252
Near32 43:87bdce65341f 253 extended = true;
Near32 43:87bdce65341f 254 filterOn = true;
Near32 43:87bdce65341f 255
Near32 43:87bdce65341f 256 instanceEKF = new EKF<T>(nbrstate, nbrcontrol, nbrobs, dt, stdnoise, /*current state*/ initX, extended, filterOn);
Near32 43:87bdce65341f 257
Near32 43:87bdce65341f 258 instanceEKF->initMotion(motion_bicycle3);
Near32 43:87bdce65341f 259 instanceEKF->initSensor(sensor_bicycle3);
Near32 43:87bdce65341f 260 instanceEKF->initJMotion(jmotion_bicycle3);
Near32 43:87bdce65341f 261 //instanceEKF.initJMotionCommand(jmotion_bicycle3_command);
Near32 43:87bdce65341f 262 instanceEKF->initJSensor(jsensor_bicycle3);
Near32 43:87bdce65341f 263
Near32 43:87bdce65341f 264 /*desired State : (x y theta phiright phileft)*/
Near32 43:87bdce65341f 265 dX = Mat<T>((T)0, nbrstate, 1);
Near32 43:87bdce65341f 266 dX.set( (T)0, 1,1);
Near32 43:87bdce65341f 267 dX.set( (T)0, 2,1);
Near32 43:87bdce65341f 268 dX.set( (T)0, 3,1);
Near32 43:87bdce65341f 269 dX.set( (T)0, 4,1);
Near32 50:16c033eea17d 270 dX.set( (T)0, 5,1);
Near32 50:16c033eea17d 271
Near32 50:16c033eea17d 272 dXalpha = dX;
Near32 50:16c033eea17d 273 dXrho = dX;
Near32 43:87bdce65341f 274
Near32 43:87bdce65341f 275 ki = Mat<T>((T)0, nbrcontrol, nbrstate);
Near32 43:87bdce65341f 276 kp = Mat<T>((T)0, nbrcontrol, nbrstate);
Near32 43:87bdce65341f 277 kd = Mat<T>((T)0, nbrcontrol, nbrstate);
Near32 43:87bdce65341f 278 //Mat<double> kdd((double)0.0015, nbrcontrol, nbrstate);
Near32 43:87bdce65341f 279
Near32 43:87bdce65341f 280 for(int i=1;i<=nbrstate;i++)
Near32 43:87bdce65341f 281 {
Near32 43:87bdce65341f 282 kp.set( (T)0.01, i, i);
Near32 43:87bdce65341f 283 kd.set( (T)0.0001, i, i);
Near32 43:87bdce65341f 284 ki.set( (T)0.0001, i, i);
Near32 43:87bdce65341f 285 }
Near32 43:87bdce65341f 286
Near32 43:87bdce65341f 287 instanceEKF->setKi(ki);
Near32 43:87bdce65341f 288 instanceEKF->setKp(kp);
Near32 43:87bdce65341f 289 instanceEKF->setKd(kd);
Near32 43:87bdce65341f 290 //instance.setKdd(kdd);
Near32 43:87bdce65341f 291
Near32 43:87bdce65341f 292 u = Mat<T>(transpose( instanceEKF->getCommand()) );
Near32 43:87bdce65341f 293
Near32 43:87bdce65341f 294 /*Observations*/
Near32 43:87bdce65341f 295 /*il nous faut 5 observation : mais on n'en met à jour que 3...*/
Near32 43:87bdce65341f 296 z = Mat<T>((T)0,5,1);
Near32 43:87bdce65341f 297 this->measurementCallback(&z);
Near32 43:87bdce65341f 298
Near32 43:87bdce65341f 299 /*----------------------------------------------------------------------------------------------*/
Near32 43:87bdce65341f 300 isarrived = true;
Near32 50:16c033eea17d 301 isarrivedalpha = true;
Near32 50:16c033eea17d 302 isarrivedrho = true;
Near32 43:87bdce65341f 303 execution = false;
Near32 89:d05001d85a02 304 behaviour = 0; //alpha : 1 : rho : 2 : dX (beta)
Near32 43:87bdce65341f 305
Near32 43:87bdce65341f 306 }
Near32 43:87bdce65341f 307
Near32 43:87bdce65341f 308 ~Asserv()
Near32 43:87bdce65341f 309 {
Near32 43:87bdce65341f 310 delete instanceEKF;
Near32 43:87bdce65341f 311 }
Near32 43:87bdce65341f 312
Near32 43:87bdce65341f 313 void setGoal(T x, T y, T theta)
Near32 43:87bdce65341f 314 {
Near32 43:87bdce65341f 315 dX.set(x,1,1);
Near32 43:87bdce65341f 316 dX.set(y,2,1);
Near32 43:87bdce65341f 317 dX.set(theta,3,1);
Near32 43:87bdce65341f 318 dX.set((T)0,4,1);
Near32 43:87bdce65341f 319 dX.set((T)0,5,1);
Near32 43:87bdce65341f 320 execution = true;
Near32 43:87bdce65341f 321 isarrived = false;
Near32 50:16c033eea17d 322 isarrivedalpha = false;
Near32 50:16c033eea17d 323 isarrivedrho = false;
Near32 50:16c033eea17d 324
Near32 90:294b16267109 325 T alpha = atan2((dX.get(2,1)-X.get(2,1)),( dX.get(1,1) - X.get(1,1)));
Near32 90:294b16267109 326 alpha = alpha - atan2(sin(X.get(3,1)),cos(X.get(3,1)));
Near32 90:294b16267109 327
Near32 90:294b16267109 328 while(alpha > (T)PI)
Near32 90:294b16267109 329 {
Near32 90:294b16267109 330 alpha -= 2.0f*(T)PI;
Near32 90:294b16267109 331 }
Near32 90:294b16267109 332 while(alpha <= -(T)PI)
Near32 90:294b16267109 333 {
Near32 90:294b16267109 334 alpha += 2.0f*(T)PI;
Near32 90:294b16267109 335 }
Near32 90:294b16267109 336
Near32 51:960ed3e8b648 337 dXalpha.set( alpha, 3,1);
Near32 50:16c033eea17d 338
Near32 50:16c033eea17d 339 dXrho = dX;
Near32 51:960ed3e8b648 340 dXrho.set( alpha, 3,1);
Near32 43:87bdce65341f 341
Near32 43:87bdce65341f 342 }
Near32 43:87bdce65341f 343
Near32 75:23222b28dc90 344 bool isArrived() { return isarrived;}
Near32 75:23222b28dc90 345 bool isArrivedRho() { return isarrivedrho;}
Near32 43:87bdce65341f 346
Near32 43:87bdce65341f 347 void stop()
Near32 43:87bdce65341f 348 {
Near32 43:87bdce65341f 349 execution = false;
Near32 43:87bdce65341f 350 }
Near32 43:87bdce65341f 351
Near32 43:87bdce65341f 352 void update(T deltat)
Near32 43:87bdce65341f 353 {
Near32 43:87bdce65341f 354 if(execution)
Near32 43:87bdce65341f 355 {
Near32 47:4909e97570f6 356 dt = deltat;
Near32 47:4909e97570f6 357
Near32 43:87bdce65341f 358 /*Asservissement*/
Near32 47:4909e97570f6 359 this->measurementCallback(&z);
Near32 73:d8e1b543fbe3 360 //transpose(z).afficherMblue();
Near32 50:16c033eea17d 361
Near32 50:16c033eea17d 362
Near32 50:16c033eea17d 363 /*Gestion des comportements : alpha --> rho --> beta --> isarrived = true;*/
Near32 50:16c033eea17d 364 /*------------------------------------------------------------------------*/
Near32 89:d05001d85a02 365
Near32 89:d05001d85a02 366 Mat<T> dXbehaviour(dX);
Near32 90:294b16267109 367 if(isarrivedalpha && phi_l+phi_r <= phi_max/20 && behaviour == 0)
Near32 50:16c033eea17d 368 {
Near32 50:16c033eea17d 369 behaviour=1;
Near32 50:16c033eea17d 370 }
Near32 90:294b16267109 371 if(isarrivedalpha && isarrivedrho && phi_l+phi_r <= phi_max/20 && behaviour == 1)
Near32 50:16c033eea17d 372 {
Near32 50:16c033eea17d 373 behaviour = 2;
Near32 50:16c033eea17d 374 }
Near32 50:16c033eea17d 375
Near32 50:16c033eea17d 376 switch(behaviour)
Near32 50:16c033eea17d 377 {
Near32 50:16c033eea17d 378 case 0:
Near32 90:294b16267109 379 if(fabs_(dXalpha.get(3,1)-X.get(3,1) ) <= (T)0.02)
Near32 50:16c033eea17d 380 {
Near32 50:16c033eea17d 381 behaviour = 1;
Near32 50:16c033eea17d 382 dXbehaviour = dXrho;
Near32 51:960ed3e8b648 383 isarrivedalpha = true;
Near32 50:16c033eea17d 384 }
Near32 50:16c033eea17d 385 else
Near32 50:16c033eea17d 386 {
Near32 50:16c033eea17d 387 dXbehaviour = dXalpha;
Near32 50:16c033eea17d 388 isarrivedalpha = false;
Near32 50:16c033eea17d 389 }
Near32 50:16c033eea17d 390
Near32 50:16c033eea17d 391 break;
Near32 50:16c033eea17d 392
Near32 50:16c033eea17d 393 case 1:
Near32 89:d05001d85a02 394 if(norme2( extract(dXrho-X,1,1, 2,1) ) <= (T)5)
Near32 50:16c033eea17d 395 {
Near32 50:16c033eea17d 396 behaviour = 2;
Near32 50:16c033eea17d 397 dXbehaviour = dX;
Near32 50:16c033eea17d 398 isarrivedrho = true;
Near32 50:16c033eea17d 399 }
Near32 50:16c033eea17d 400 else
Near32 50:16c033eea17d 401 {
Near32 50:16c033eea17d 402 dXbehaviour = dXrho;
Near32 50:16c033eea17d 403 isarrivedrho = false;
Near32 50:16c033eea17d 404 }
Near32 50:16c033eea17d 405 break;
Near32 50:16c033eea17d 406
Near32 50:16c033eea17d 407 default:
Near32 90:294b16267109 408 if(norme2(dX-X) <=5)
Near32 50:16c033eea17d 409 {
Near32 50:16c033eea17d 410 isarrived = true;
Near32 50:16c033eea17d 411 }
Near32 50:16c033eea17d 412 else
Near32 50:16c033eea17d 413 {
Near32 51:960ed3e8b648 414 isarrived = false;
Near32 50:16c033eea17d 415 }
Near32 51:960ed3e8b648 416 dXbehaviour = dX;
Near32 50:16c033eea17d 417 break;
Near32 50:16c033eea17d 418 }
Near32 89:d05001d85a02 419
Near32 50:16c033eea17d 420 /*------------------------------------------------*/
Near32 89:d05001d85a02 421 //if( norme2( extract( dX-X,1,1,2,1)) <= 10 )
Near32 89:d05001d85a02 422 // isarrivedrho = true;
Near32 75:23222b28dc90 423
Near32 81:08eacb6179d8 424 #ifdef debugAsserv
Near32 87:e8b64b4174b8 425 logger.printf("BEHAVIOUR ASSERV : %d\r\n", behaviour);
Near32 81:08eacb6179d8 426 #endif
Near32 89:d05001d85a02 427 instanceEKF->measurement_Callback( z, dXbehaviour, true );
Near32 89:d05001d85a02 428
Near32 89:d05001d85a02 429 #ifdef debugAsserv
Near32 89:d05001d85a02 430 logger.printf("MEASUREMENT CALLBACK : DONE.\r\n");
Near32 89:d05001d85a02 431 #endif
Near32 90:294b16267109 432 //instanceEKF->state_Callback();
Near32 90:294b16267109 433 instanceEKF->setX(z);
Near32 89:d05001d85a02 434 X = instanceEKF->getX();
Near32 89:d05001d85a02 435
Near32 89:d05001d85a02 436 #ifdef debugAsserv
Near32 89:d05001d85a02 437 logger.printf("STATE CALLBACK : DONE. \r\n");
Near32 89:d05001d85a02 438 transpose(X).afficherMblue();
Near32 89:d05001d85a02 439 transpose(z).afficherMblue();
Near32 89:d05001d85a02 440 #endif
Near32 43:87bdce65341f 441
Near32 50:16c033eea17d 442 instanceEKF->computeCommand(dXbehaviour, (T)dt, -1);
Near32 89:d05001d85a02 443
Near32 89:d05001d85a02 444 #ifdef debugAsserv
Near32 89:d05001d85a02 445 logger.printf("COMMAND CALLBACK : DONE. \r\n");
Near32 89:d05001d85a02 446 #endif
Near32 47:4909e97570f6 447 //instanceEKF->computeCommand(dX, (T)dt, -2);
Near32 44:d5f95af61243 448 phi_l = instanceEKF->getCommand().get(1,1);
Near32 44:d5f95af61243 449 phi_r = instanceEKF->getCommand().get(2,1);
Near32 43:87bdce65341f 450 }
Near32 43:87bdce65341f 451 else
Near32 43:87bdce65341f 452 {
Near32 43:87bdce65341f 453 phi_r = (T)0;
Near32 43:87bdce65341f 454 phi_l = (T)0;
Near32 43:87bdce65341f 455 }
Near32 43:87bdce65341f 456 }
Near32 43:87bdce65341f 457
Near32 47:4909e97570f6 458 void measurementCallbackVW( Mat<T>* z)
Near32 43:87bdce65341f 459 {
Near32 43:87bdce65341f 460 z->set( (T)/*conversionUnitée mm */this->odometry->getX(), 1,1);
Near32 43:87bdce65341f 461 z->set( (T)/*conversionUnitée mm*/this->odometry->getY(), 2,1);
Near32 89:d05001d85a02 462
Near32 43:87bdce65341f 463 T theta = (T)this->odometry->getTheta();
Near32 43:87bdce65341f 464 theta = atan21(sin(theta),cos(theta));
Near32 89:d05001d85a02 465
Near32 43:87bdce65341f 466 z->set( (double)/*conversionUnitée rad*/theta, 3,1);//odometry->getTheta(), 3,1);
Near32 89:d05001d85a02 467
Near32 43:87bdce65341f 468 T vx = (T)this->odometry->getVx();
Near32 43:87bdce65341f 469 T vy = (T)this->odometry->getVy();
Near32 43:87bdce65341f 470 z->set( sqrt(vx*vx+vy*vy),4,1);
Near32 43:87bdce65341f 471 z->set( (T)odometry->getW(),5,1);
Near32 43:87bdce65341f 472
Near32 44:d5f95af61243 473 //transpose(*z).afficherMblue();
Near32 47:4909e97570f6 474 }
Near32 47:4909e97570f6 475
Near32 47:4909e97570f6 476 void measurementCallback( Mat<T>* z)
Near32 47:4909e97570f6 477 {
Near32 47:4909e97570f6 478 z->set( (T)/*conversionUnitée mm */this->odometry->getX(), 1,1);
Near32 47:4909e97570f6 479 z->set( (T)/*conversionUnitée mm*/this->odometry->getY(), 2,1);
Near32 47:4909e97570f6 480 T theta = (T)this->odometry->getTheta();
Jagang 78:7c7cefbe1772 481 //theta = atan2(sin(theta),cos(theta));
Near32 47:4909e97570f6 482 z->set( (double)/*conversionUnitée rad*/theta, 3,1);//odometry->getTheta(), 3,1);
Near32 47:4909e97570f6 483
Near32 47:4909e97570f6 484 //State : phi_l phi_r
Near32 47:4909e97570f6 485 z->set( (T)this->odometry->getPhileft(),4,1);
Near32 47:4909e97570f6 486 z->set( (T)this->odometry->getPhiright(),5,1);
Near32 47:4909e97570f6 487
Near32 47:4909e97570f6 488 //transpose(*z).afficherMblue();
Near32 43:87bdce65341f 489 }
Near32 43:87bdce65341f 490
Near32 43:87bdce65341f 491 Mat<T> getX()
Near32 43:87bdce65341f 492 {
Near32 43:87bdce65341f 493 return X;
Near32 43:87bdce65341f 494 }
Near32 43:87bdce65341f 495
Near32 43:87bdce65341f 496 T getPhiR()
Near32 43:87bdce65341f 497 {
Near32 43:87bdce65341f 498 return phi_r;
Near32 43:87bdce65341f 499 }
Near32 43:87bdce65341f 500
Near32 43:87bdce65341f 501 T getPhiL()
Near32 43:87bdce65341f 502 {
Near32 43:87bdce65341f 503 return phi_l;
Near32 43:87bdce65341f 504 }
Near32 43:87bdce65341f 505
Near32 43:87bdce65341f 506 T getPhiMax()
Near32 43:87bdce65341f 507 {
Near32 43:87bdce65341f 508 return phi_max;
Near32 43:87bdce65341f 509 }
Near32 43:87bdce65341f 510
Near32 43:87bdce65341f 511
Near32 43:87bdce65341f 512 };